Diff: Mousr.cpp

Revision:

0:78e2af20cbf3

Child:

1:e694ee3b4a7f

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Mousr.cpp	Mon Sep 08 11:32:04 2014 +0000
@@ -0,0 +1,75 @@
+#include "Mousr.h"
+
+Mousr::Mousr() : m1a(p24), m1b(p23), m2a(p22), m2b(p21)
+{           
+    straightSpeed = 1.0;
+    rotateSlowSpeed = 0.3;
+    rotateSpeed = 0.5;
+    rotateFastSpeed = 0.8;
+    flipStraightSpeed = 0.6;
+    flipStraightWait = 0.6;
+    flipRotateSpeed = 0.5;
+    flipRotateWait = 0.5;
+}
+
+void Mousr::stop()
+{
+    m1a = 0; m2a = 0; m1b = 0; m2b = 0; return;
+}
+
+void Mousr::straight(float speed)
+{
+    m1a = speed; m1b = 0; m2a = speed; m2b = 0; return;
+}
+
+void Mousr::backwards(float speed)
+{
+    m1a = 0; m2a = 0; m1b = speed; m2b = speed; return;
+}
+
+void Mousr::left(float speed)
+{
+    m1a = 0; m1b = speed; m2a = speed; m2b = 0; return;
+}
+
+void Mousr::right(float speed)
+{
+    m1a = speed; m1b = 0; m2a = 0; m2b = speed; return;
+}
+
+void Mousr::flipLeft()
+{
+    straight(flipStraightSpeed);
+    wait(flipStraightWait);
+    left(flipRotateSpeed);
+    wait(flipRotateWait);
+}
+
+void Mousr::flipRight()
+{
+    straight(flipStraightSpeed);
+    wait(flipStraightWait);
+    right(flipRotateSpeed);
+    wait(flipRotateWait);
+}
+
+// GETTER FUNCTIONS
+float Mousr::getStraightSpeed()
+{
+    return straightSpeed;
+}
+
+float Mousr::getRotateSlowSpeed()
+{
+    return straightSpeed;
+}
+
+float Mousr::getRotateSpeed()
+{
+    return straightSpeed;
+}
+
+float Mousr::getRotateFastSpeed()
+{
+    return straightSpeed;
+}
\ No newline at end of file